LEARNING CONTROL FOR ROBOT WITH UNACTUATED JOINTS
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摘要: 含有非驱动关节的机器人的运动控制比一般的机器人要困难得多．因为非驱动关节不能直接控制，系统属于非完全可控系统，一般的光滑反馈控制方法对这样的系统是无效的．本文提出了一种学习控制的方法，通过学习获得高精度的前馈控制，实现欠驱动机器人的高精度运动控制，并在一台实际的欠驱动机器人上进行了实验，给出了实验结果．Abstract: The control of a robot with unactuated joints is much more difficult than a conventional robot. Because the unactuated joints can't be controlled directly, it is an incomplete controllable system. Usual smooth feedback control is not usable for such system. A method of learning control is proposed in this paper, that is dynamics feedforward control by learning. In this way, we can control an under actuated robot with high precision. The effectiveness of the method has been confirmed by experiment with an under-actuated robot. Method, implementation and experimental results of the control method are described in this paper.
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Keywords:
- unactuated joint /
- under-actuated system /
- learning control /
- nonlinear optimization
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